What does it mean when the ESP light comes on in an Audi A6?

[AmyLee]

Audi A6's ESP light coming on indicates that the Electronic Stability Program has started to intervene in the vehicle's driving control. Here's how the ESP works: 1. When the Audi A6 experiences understeer during a left turn (i.e., when the speed is too high to complete the turn smoothly), various ESP sensors will send information about the understeer to the computer. The computer then applies braking to the left rear wheel, generating a pulling force and torque to counteract the tendency of the front end to push outward. 2. During a left turn, if the rear wheels lose traction or the driver applies too much throttle in a rear-wheel-drive car causing oversteer, the ESP will brake the right front wheel while simultaneously reducing engine power output to correct the incorrect steering attitude. 3. When braking in a straight line on surfaces with uneven traction that causes the car to pull to one side, the ESP will reduce braking force on wheels with stronger traction, allowing the vehicle to follow the driver's intended path. Similarly, when braking while turning, the ESP will adjust braking force on specific wheels to ensure the vehicle moves according to the driver's intentions.